Adaptive fuzzy sliding mode control for nonlinear systems

This paper proposes a kind of adaptive fuzzy control scheme for a nonlinear system. In the design, we employ fuzzy systems to approximate nonlinear functions, then combine the sliding mode principle and Lyapunov function to obtain a stable adaptive controller. Furthermore, we apply fuzzy inference control to attenuate the chattering phenomenon being inherent in the conventional sliding mode controller, and prove that the closed-loop system is stable with the tracking error converging to a neighbourhood of zero